Wearable Robots for Human Underwater Movement Ability Enhancement:A Survey  

作　　者：Haisheng Xia Muhammad Alamgeer Khan Zhijun Li MengChu Zhou 

机构地区：[1]IEEE [2]Department of Automation,University of Science and Technology of China,Hefei 230026,China [3]Institute of Artificial Intelligence,Hefei Comprehensive National Science Center,Hefei 230026,China [4]Helen and John C.Hartmann Department of Electrical and Computer Engineering,New Jersey Institute of Technology,Newark NJ 07102 USA [5]Department of Cyber-Physical Systems,St.Petersburg State Marine Technical University,St.Petersburg 198262,Russia

出　　处：《IEEE/CAA Journal of Automatica Sinica》2022年第6期967-977,共11页自动化学报（英文版）

基　　金：supported in part by the National Key Research and Development Program of China(2021YFF0501600);the National Natural Science Foundation of China(U1913601);the Major Science and Technology Projects of Anhui Province(202103a05020004);the China Postdoctoral Science Foundation(2021M693079);the Fundamental Research Funds for the Central Universities(WK2100000020);the State Key Laboratory of Mechanical System and Vibration(MSV202219);the Ministry of Science and Higher Education of the Russian Federation as Part of World-Class Research Center Program:Advanced Digital Technologies(075-15-2020-903);the Open Research Project of the State Key Laboratory of Industrial Control Technology,Zhejiang University;China(ICT2022B42)。

摘　　要：Underwater robot technology has shown impressive results in applications such as underwater resource detection.For underwater applications that require extremely high flexibility,robots cannot replace skills that require human dexterity yet,and thus humans are often required to directly perform most underwater operations.Wearable robots(exoskeletons)have shown outstanding results in enhancing human movement on land.They are expected to have great potential to enhance human underwater movement.The purpose of this survey is to analyze the state-of-the-art of underwater exoskeletons for human enhancement,and the applications focused on movement assistance while excluding underwater robotic devices that help to keep the temperature and pressure in the range that people can withstand.This work discusses the challenges of existing exoskeletons for human underwater movement assistance,which mainly includes human underwater motion intention perception,underwater exoskeleton modeling and human-cooperative control.Future research should focus on developing novel wearable robotic structures for underwater motion assistance,exploiting advanced sensors and fusion algorithms for human underwater motion intention perception,building up a dynamic model of underwater exoskeletons and exploring human-in-theloop control for them.

关 键 词：Cyborg intelligence DIVING exoskeleton intention perception modeling and control SWIMMING underwater exoskeletons underwater robots wearable robots 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]